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Prayer for when we mess up

Create in me a clean heart, O God,
and put a new and right spirit within me.
Cast me not away from your presence,
and take not your holy Spirit from me.
Restore to me the joy of your salvation,
and uphold me with a willing spirit.

I mess up all. the. time. Each time is a temptation to beat myself up (I do this very well from much practice). Over the last couple of years I’ve tried, instead, to pray this prayer or others like it; I find it better to invoke God’s help to change rather than to just try harder on my own.

King David messed up big time; I mean BIG time (read about it in 2 Samuel chapters 11 and 12). Psalm 51 records his prayer after being called out on it. I need these words in my heart and on my tongue; maybe you do, too.